Path of constant curvature for a carlike robot. More...

#include <hpp/core/steering-method/constant-curvature.hh>

Inheritance diagram for hpp::core::steeringMethod::ConstantCurvature:

Collaboration diagram for hpp::core::steeringMethod::ConstantCurvature:

Public Types
typedef Path	parent_t

Public Member Functions
virtual	~ConstantCurvature () throw ()

virtual PathPtr_t	copy () const
	Return a shared pointer to a copy of this. More...

virtual PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const
	Return a shared pointer to a copy of this with constraints. More...

Configuration_t	initial () const
	Get the initial configuration. More...

Configuration_t	end () const
	Get the final configuration. More...

Public Member Functions inherited from hpp::core::Path
virtual	~Path () throw ()
	Destructor. More...

template<class T >
boost::shared_ptr< T >	as (void)
	Static cast into a derived type. More...

template<class T >
boost::shared_ptr< const T >	as (void) const
	Static cast into a derived type. More...

PathPtr_t	extract (const interval_t &subInterval) const throw (projection_error)

PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const throw (projection_error)

virtual PathPtr_t	reverse () const
	Reversion of a path. More...

Configuration_t	operator() (const value_type &time) const HPP_CORE_DEPRECATED

Configuration_t	operator() (const value_type &time, bool &success) const

bool	operator() (ConfigurationOut_t result, const value_type &time) const throw ()

Configuration_t	eval (const value_type &time, bool &success) const

bool	eval (ConfigurationOut_t result, const value_type &time) const throw ()

bool	at (const value_type &time, ConfigurationOut_t result) const
	Get the configuration at a parameter without applying the constraints. More...

void	derivative (vectorOut_t result, const value_type &time, size_type order) const
	Get derivative with respect to parameter at given parameter. More...

void	velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
	Get an upper bound of the velocity on a sub-interval. More...

size_type	outputSize () const
	Get size of configuration space. More...

size_type	outputDerivativeSize () const
	Get size of velocity. More...

const interval_t &	timeRange () const
	Get interval of definition. More...

virtual value_type	length () const
	Get length of definition interval. More...

const ConstraintSetPtr_t &	constraints () const
	Get constraints the path is subject to. More...

const interval_t &	paramRange () const
	Get interval of parameters. More...

void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
	Set the time parameterization function. More...

Static Public Member Functions
static ConstantCurvaturePtr_t	create (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type curveLength, value_type pathLength, value_type curvature, size_type xyId, size_type rzId, const JointPtr_t rz, const std::vector< JointPtr_t > wheels, const ConstraintSetPtr_t &constraints)
	Create instance and return shared pointer. More...

static ConstantCurvaturePtr_t	createCopy (const ConstantCurvaturePtr_t &other)
	Create instance and return shared pointer. More...

static ConstantCurvaturePtr_t	createCopy (const ConstantCurvaturePtr_t &other, const ConstraintSetPtr_t &constraints)
	Create instance and return shared pointer. More...

Protected Member Functions
virtual std::ostream &	print (std::ostream &os) const
	Print path in a stream. More...

	ConstantCurvature (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type curveLength, value_type pathLength, value_type curvature, size_type xyId, size_type rzId, const JointPtr_t rz, const std::vector< JointPtr_t > wheels)
	Constructor. More...

	ConstantCurvature (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type curveLength, value_type pathLength, value_type curvature, size_type xyId, size_type rzId, const JointPtr_t rz, const std::vector< JointPtr_t > wheels, ConstraintSetPtr_t constraints)
	Constructor. More...

	ConstantCurvature (const ConstantCurvature &other)
	Copy constructor. More...

	ConstantCurvature (const ConstantCurvature &other, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

virtual bool	impl_compute (ConfigurationOut_t result, value_type param) const
	Function evaluation without applying constraints. More...

virtual void	impl_derivative (vectorOut_t result, const value_type &param, size_type order) const
	Virtual implementation of derivative. More...

virtual void	impl_velocityBound (vectorOut_t bound, const value_type &param0, const value_type &param1) const
	Virtual implementation of velocity bound. More...

virtual PathPtr_t	impl_extract (const interval_t &paramInterval) const throw (projection_error)
	Virtual implementation of path extraction. More...

void	init (const ConstantCurvatureWkPtr_t &weak)
	store weak pointer to itself More...

Protected Member Functions inherited from hpp::core::Path
	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
	Constructor. More...

	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
	Constructor. More...

	Path (const Path &path)
	Copy constructor. More...

	Path (const Path &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (const PathWkPtr_t &self)
	Store weak pointer to itself. More...

void	constraints (const ConstraintSetPtr_t &constraint)
	Set the constraints. More...

virtual void	checkPath () const
	Should be called by child classes after having init. More...

void	timeRange (const interval_t &timeRange)

const TimeParameterizationPtr_t &	timeParameterization () const

value_type	paramLength () const

Configuration_t	configAtParam (const value_type &param, bool &success) const

Additional Inherited Members
Protected Attributes inherited from hpp::core::Path
interval_t	paramRange_
	Interval of parameters. More...

Detailed Description

Path of constant curvature for a carlike robot.

Member Typedef Documentation

◆ parent_t

typedef Path hpp::core::steeringMethod::ConstantCurvature::parent_t

Constructor & Destructor Documentation

◆ ~ConstantCurvature()

virtual hpp::core::steeringMethod::ConstantCurvature::~ConstantCurvature	(	)
throw	(
	)

inlinevirtual

References hpp::core::Path::constraints(), copy(), create(), createCopy(), end(), and init().

◆ ConstantCurvature() [1/4]

hpp::core::steeringMethod::ConstantCurvature::ConstantCurvature	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	curveLength,
		value_type	pathLength,
		value_type	curvature,
		size_type	xyId,
		size_type	rzId,
		const JointPtr_t	rz,
		const std::vector< JointPtr_t >	wheels
	)

protected

Constructor.

Parameters

robot	the carlike robot,
init,end	Initial and final configurations of the path,
curveLength	distance traveled by the middle of the rear wheel axis, negative values correspond to backward motions
pathLength	length of the interval of definition. Should be positive,
curvature	curvature of the path,
xyId	id of degrees of freedom corresponding to (x,y) coordinates of robot,
rzId	id of degrees of freedom corresponding to orientation of robot.
rz	joint corresponding to orientation of robot,
wheels	vector of joints corresponding to wheels.

Referenced by end().

◆ ConstantCurvature() [2/4]

hpp::core::steeringMethod::ConstantCurvature::ConstantCurvature	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	curveLength,
		value_type	pathLength,
		value_type	curvature,
		size_type	xyId,
		size_type	rzId,
		const JointPtr_t	rz,
		const std::vector< JointPtr_t >	wheels,
		ConstraintSetPtr_t	constraints
	)

protected

Constructor.

Parameters

robot	the carlike robot,
init,end	Initial and final configurations of the path,
curveLength	distance traveled by the middle of the rear wheel axis, negative values correspond to backward motions
pathLength	length of the interval of definition. Should be positive,
curvature	curvature of the path,
xyId	id of degrees of freedom corresponding to (x,y) coordinates of robot,
rzId	id of degrees of freedom corresponding to orientation of robot.
rz	joint corresponding to orientation of robot,
wheels	vector of joints corresponding to wheels,
constraints	set of contraints the path is suject to.

◆ ConstantCurvature() [3/4]

hpp::core::steeringMethod::ConstantCurvature::ConstantCurvature ( const ConstantCurvature & other )

protected

Copy constructor.

◆ ConstantCurvature() [4/4]

hpp::core::steeringMethod::ConstantCurvature::ConstantCurvature	(	const ConstantCurvature &	other,
		const ConstraintSetPtr_t &	constraints
	)

protected

Copy constructor with constraints.

Member Function Documentation

◆ copy() [1/2]

virtual PathPtr_t hpp::core::steeringMethod::ConstantCurvature::copy ( ) const

virtual

Return a shared pointer to a copy of this.

Implements hpp::core::Path.

Referenced by ~ConstantCurvature().

◆ copy() [2/2]

virtual PathPtr_t hpp::core::steeringMethod::ConstantCurvature::copy ( const ConstraintSetPtr_t & constraints ) const

inlinevirtual

Return a shared pointer to a copy of this with constraints.

Parameters

constraints constraints to apply to the copy

Precondition: *this should not have constraints.

Implements hpp::core::Path.

References hpp::core::Path::constraints(), and createCopy().

◆ create()

static ConstantCurvaturePtr_t hpp::core::steeringMethod::ConstantCurvature::create	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	curveLength,
		value_type	pathLength,
		value_type	curvature,
		size_type	xyId,
		size_type	rzId,
		const JointPtr_t	rz,
		const std::vector< JointPtr_t >	wheels,
		const ConstraintSetPtr_t &	constraints
	)

static

Create instance and return shared pointer.

Parameters

robot	the carlike robot,
init,end	Initial and final configurations of the path,
curveLength	distance traveled by the middle of the rear wheel axis, negative values correspond to backward motions
pathLength	length of the interval of definition. Should be positive,
curvature	curvature of the path,
xyId	id of degrees of freedom corresponding to (x,y) coordinates of robot,
rzId	id of degrees of freedom corresponding to orientation of robot.
rz	joint corresponding to orientation of robot,
wheels	vector of joints corresponding to wheels,
constraints	set of contraints the path is suject to.

Referenced by ~ConstantCurvature().

◆ createCopy() [1/2]

static ConstantCurvaturePtr_t hpp::core::steeringMethod::ConstantCurvature::createCopy ( const ConstantCurvaturePtr_t & other )

static

Create instance and return shared pointer.

Referenced by copy(), and ~ConstantCurvature().

◆ createCopy() [2/2]

static ConstantCurvaturePtr_t hpp::core::steeringMethod::ConstantCurvature::createCopy	(	const ConstantCurvaturePtr_t &	other,
		const ConstraintSetPtr_t &	constraints
	)

static

Create instance and return shared pointer.

◆ end()

Configuration_t hpp::core::steeringMethod::ConstantCurvature::end ( ) const

inlinevirtual

Get the final configuration.

Implements hpp::core::Path.

References ConstantCurvature(), impl_compute(), impl_derivative(), impl_extract(), impl_velocityBound(), and print().

Referenced by ~ConstantCurvature().

◆ impl_compute()

virtual bool hpp::core::steeringMethod::ConstantCurvature::impl_compute	(	ConfigurationOut_t	configuration,
		value_type	param
	)		const

protectedvirtual

Function evaluation without applying constraints.

Returns: true if everything went good.

Implements hpp::core::Path.

Referenced by end().

◆ impl_derivative()

virtual void hpp::core::steeringMethod::ConstantCurvature::impl_derivative	(	vectorOut_t	result,
		const value_type &	param,
		size_type	order
	)		const

protectedvirtual

Virtual implementation of derivative.

Reimplemented from hpp::core::Path.

Referenced by end().

◆ impl_extract()

virtual PathPtr_t hpp::core::steeringMethod::ConstantCurvature::impl_extract	(	const interval_t &	paramInterval	)	const
throw	(	projection_error
	)

protectedvirtual

Virtual implementation of path extraction.

Reimplemented from hpp::core::Path.

Referenced by end().

◆ impl_velocityBound()

virtual void hpp::core::steeringMethod::ConstantCurvature::impl_velocityBound	(	vectorOut_t	bound,
		const value_type &	param0,
		const value_type &	param1
	)		const

protectedvirtual

Virtual implementation of velocity bound.

Reimplemented from hpp::core::Path.

Referenced by end().

◆ init()

void hpp::core::steeringMethod::ConstantCurvature::init ( const ConstantCurvatureWkPtr_t & weak )

inlineprotected

store weak pointer to itself

References hpp::core::Path::init().

Referenced by ~ConstantCurvature().

◆ initial()

Configuration_t hpp::core::steeringMethod::ConstantCurvature::initial ( ) const

inlinevirtual

Get the initial configuration.

Implements hpp::core::Path.

◆ print()

virtual std::ostream& hpp::core::steeringMethod::ConstantCurvature::print ( std::ostream & os ) const

protectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.

Referenced by end().

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~ConstantCurvature()

◆ ConstantCurvature() [1/4]

◆ ConstantCurvature() [2/4]

◆ ConstantCurvature() [3/4]

◆ ConstantCurvature() [4/4]

Member Function Documentation

◆ copy() [1/2]

◆ copy() [2/2]

◆ create()

◆ createCopy() [1/2]

◆ createCopy() [2/2]

◆ end()

◆ impl_compute()

◆ impl_derivative()

◆ impl_extract()

◆ impl_velocityBound()

◆ init()

◆ initial()

◆ print()